【摘要】 针对欠驱动四自由度三维桥式起重机的吊重摆动控制问题,设计了一种分层滑模轨迹跟踪防摆控制器。首先为大、小车和吊重分别选择了一条目标轨迹,然后设计分层滑模控制器来使系统状态跟踪选定的轨迹,在理论上证明了控制系统的渐进稳定性,并进行了仿真验证。仿真结果表明,大小车可快速准确地到达目标位置,且吊重摆角被抑制在很小的范围内,能快速收敛到零。当吊重质量变化、吊绳长度变化或有大的初始摆角时,所设计的控制器仍具良好的控制性能和较强的鲁棒性。更多还原

【Abstract】 In view of the problem of hoisting sway control of under-actuation four-degree-of-freedom 3D bridge crane,a layering slip form trajectory tracking anti-swing controller is designed in the paper. A target trajectory is selected respectively for the crane,trolley,and hoisting engine and the layering slip form controller is designed so that the system can track the selected trajectory,proving the asymptotic stability of the control system and simulation verification. The simulation result shows that both the crane and trolley can accurately reach the targeted position,and the load-swing angle is controlled within a limited range and able to quickly converge to zero. In case of change of hoisting mass,sling length,or large initial sway angle,the designed controller shall be provided with excellent control performance and strong robustness.更多还原